CN105456000B - A kind of ambulation control method of wearable bionic exoskeleton pedipulator convalescence device - Google Patents

Abstract

The invention discloses a walking control method of a wearable bionic exoskeleton mechanical leg rehabilitation device. The method includes the first step of stepping the left or right foot and continuous walking control. The first step of stepping the left or right foot is that the control module judges that the current state of the system meets the switching requirements based on the data received from the inclination sensor and the pressure sensor on the bottom of the foot. Condition C1 or C2, the control module controls the rotation of the motor to drive the thigh support and calf support to step forward with the left or right foot; continuous walking control includes the control module judging that the current state of the system meets the switching condition C3 based on the data from the inclination sensor and the pressure sensor or C5, and the processing that satisfies the state switching condition C4 or C6, or does not satisfy the above conditions. For users with severe paralysis of lower limbs, the invention allows users to stand up with their own feet again, take simple walks, have a certain ability to take care of themselves, and can also help users slow down the atrophy of leg muscles and help the recovery of normal functions of lower limbs.

Description

Walking control method of a wearable bionic exoskeleton mechanical leg rehabilitation device

technical field

The present invention relates to a walking control method of a rehabilitation device, in particular to a walking control method of a wearable bionic exoskeleton mechanical leg rehabilitation device; it is a method for identifying a user's posture and walking willingness based on sensor data to help him walk .

Background technique

According to relevant survey data, the number of paraplegic users in the world is increasing year by year, which not only causes a large economic burden to users, but also causes a certain psychological burden. Therefore, walking aid and rehabilitation of paraplegia have become an increasingly serious social problem. In recent years, due to various reasons (such as natural disasters such as earthquakes), the number of people with lower limb paralysis in my country has reached hundreds of thousands. For those users who are completely paralyzed, pure drug therapy and surgical treatment cannot make the user recover completely. Therefore, it is necessary to use rehabilitation engineering to improve or replace the lost functions of paralyzed patients. The rehabilitation exoskeleton is a mechanical device that is worn on the lower limbs, and the motor joints drive the corresponding joints of users with lower limbs to move to achieve the training/compensatory walking function. In order to solve diseases such as pressure sores and muscle atrophy caused by paraplegic patients who are bedridden or wheelchair-ridden for a long time, help them stand and walk, improve their quality of life, and reduce the economic burden on users' families and society, the research and development has high-tech content and independent intellectual property rights. The rehabilitation exoskeleton and the corresponding collaborative exoskeleton mode control have very important practical significance.

Contents of the invention

The purpose of the present invention is to provide a walking control method of a wearable bionic exoskeleton mechanical leg rehabilitation device, which controls the exoskeleton mechanical leg so that it can drive the user forward in different standing states to walk stably and safely. A mechanical leg rehabilitation device drives paralyzed patients to walk.

In the present invention, the wearable bionic exoskeleton mechanical leg rehabilitation device is referred to as the rehabilitation device.

The object of the invention is achieved through the following technical solutions:

A walking control method of a wearable bionic exoskeleton mechanical leg rehabilitation device, comprising the following steps:

1) First step with left or right foot:

The control module judges that the current state of the system satisfies the switching condition C1 or C2 according to the data received from the inclination sensor and the pressure sensor on the sole of the foot. If no change in the size of the inclination sensor and the pressure sensor of both feet is detected within the specified time T, the control module judges that the current state of the system does not meet the switching conditions based on the data from the inclination sensor and the pressure sensor, then the process of initializing the gait stops, and the user Continue to stand with your feet parallel;

Said C1: _∠knee =170～180°, _∠hip =170～180°, ∠front _-back =+5°～+15°, ∠left- _right =-10°～+10°, (F _pr -F _pl )/ F _pl >80%, F _C >0 and |F _cl -F _cr |/Fc>40%; C1 means straddling the left foot with both feet parallel;

Said C2: _∠knee =170～180°, _∠hip =170～180°, ∠front and _back =+5°～+15°, ∠left _{and right} =-10°～+10°, (F _pl -F _pr )/ F _pr >80%, F _c >0 and |F _cl -F _cr |/F _C >40%; C2 means straddling the right foot with both feet parallel;

The specified time T is determined by the proficiency of the user, and the value of T is 2-5s;

2) Continuous walking control:

If the control module judges that the current state of the system satisfies the switching condition C3 or C5 according to the data from the inclination sensor and the pressure sensor, the control module will control the rotation of the hip motor and knee motor to drive the thigh support and the calf support to step forward with the right foot Or left foot; said C3: _∠knee =170～180°, _∠hip =170～180°; ∠front and _back =+5°～+15°, ∠left _{and right} =-10°～+10°; (F _pl - F _pr )/F _pr 80%); F _c >0 and |F _cl -F _cr |/F _c >40%; C3 represents the state of crossing the right foot in front of the left foot and behind the right foot; said C5: _∠knee = 170～180°, _∠hip ＝170～180°; ∠front _-back ＝+5°～+15°, ∠left- _right ＝-10°～+10°; (F _pr -F _pl )/F _pl >80%; F _c >0 and |F _cl –F _cr |/F _c >40%; C5 means crossing the left foot in front of the right foot and behind the left foot;

If the control module judges that the current state of the system satisfies the state switching condition C4 or C6 according to the data sent by the inclination sensor and the pressure sensor, then the gait maintenance process stops, and the control module will control the left leg hip motor, right leg hip motor, left The leg knee motor and the right leg knee motor rotate, driving the thigh support and the calf support to withdraw the left or right foot backward, so that the user returns to the standing posture with both feet parallel; the C4: _∠knee =170～180°, _∠hip ＝170～180°, 0°< _∠knee - _∠hip <5°; ∠front _-back ＝-5°～+5°, ∠left- _right ＝-10°～+10°; (F _pr -F _pl )/F _pl >80%; F _c >0 and |F _cl –F _cr |/F _c >40%; C4 means the left foot is in front of the right foot and the left foot is behind; the above C6: _∠knee =170～180°, ∠ _Hip ＝170～180°, 0°< _∠knee - _∠hip <5°; _∠front and _back ＝+5°～+10°, _{∠left and right} ＝ _-10 ～0°; 80%; F _c >0 and |F _cl –F _cr |/F _c >40%; C6 means the right foot is in front of the left foot and the right foot is behind;

If the control module judges that the system does not meet any state switching condition in C1-C6 according to the data transmitted by the inclination sensor and the pressure sensor, the control module stops the gait initialization process or the gait maintenance process, and sends an alarm;

The ∠ _hip is the angle between the trunk support and the thigh support; the ∠ _knee is the angle between the thigh support and the calf support; the ∠ _{front and rear} are the angles of the trunk tilting forward and backward based on the vertical ground of the trunk, and the forward tilt is positive. , the backward tilt is negative; _{∠left and right} are the angles of the trunk’s left and right tilt based on the vertical ground of the trunk, and the left tilt is positive, and the right tilt is negative; G is the user’s weight; Total pressure; F _Cl is the left crutch pressure after removing the crutch's own gravity, Fcr is the right crutch pressure after removing the crutch's own gravity; F _P is the total pressure of the left and right soles; F _pl is the pressure of the left foot alone; F _pr is the pressure of the right foot alone pressure.

In order to further realize the object of the present invention, preferably, the control module is performed after the user selects the "standing" exercise mode by using the watch according to the data received from the inclination sensor and the pressure sensor on the sole of the foot.

Preferably, the control module controls the rotation of the motor to drive the thigh support and the calf support to step out of the left or right foot through the following methods:

1) Step right foot: the control module controls the right leg hip motor to accelerate uniformly from static to speed v0 with acceleration a0, and then rotate at a constant speed v0 to drive the user's torso and thigh to produce relative angular motion, so that the ∠right _hip decreases; at the same time The knee motor of the right leg begins to accelerate uniformly from static to speed v ₁ with acceleration a ₁ , and rotates at a constant speed v ₁ to drive the thigh and calf to produce relative angular motion, so that the ∠right _knee decreases until the control module detects ∠right _{knee ＝} 145～140°, control the knee motor of the right leg to decelerate to a standstill at an acceleration of -a ₁ ;

The motor of the hip of the right leg continues to rotate until the control module detects that ∠right _hip =165-160°, and controls the motor of the knee of the right leg to rotate in the opposite direction, accelerate uniformly at the acceleration a ₁ to the speed v ₁ , and rotate at the constant speed v ₁ , Drive the thigh and calf to produce relative angle movement, so that the ∠right _knee increases;

The control module continues to detect the ∠right _hip until it detects ∠right _hip =160~157°, and controls the hip motor of the right leg to decelerate to a standstill with acceleration -a ₀ ; the knee motor continues to rotate at a constant speed v ₁ until the control module _∠Right Knee = 170-180° is detected, control the knee motor of the right leg to decelerate to a standstill with an acceleration of -a ₁ , the stepping action ends, and the user enters the front of the right foot and behind the left foot;

2) Step left foot: The difference between stepping left foot and stepping right foot is that when stepping left leg, the motors that rotate are the hip motor of the user's left leg and the motor of the knee of the left leg, and the detected angle is the hip joint of the user's left leg. angle and knee angle.

Preferably, the driving of the thigh support and the calf support to retract the left or right foot backward is achieved in the following manner:

1) Retract the left foot: the knee motor of the left leg accelerates uniformly from static to v1 with the acceleration a1, and then rotates at a constant speed v1 to reduce the ∠left _knee until the control module detects that ∠left _knee =145～140°, the left knee The leg knee motor decelerates to a standstill with acceleration -a1 and then accelerates to v1 with acceleration a1 and then rotates at a constant speed v1 until the control module detects ∠left _knee =170~180°, the left leg knee motor decelerates with acceleration -a1 to a standstill; while the knee motor of the left leg rotates, the motor of the hip of the left leg accelerates to v0 with acceleration a0 and then keeps the speed unchanged until the control module detects that ∠left _hip =170～180°, the motor of the hip of the left leg Decelerate to rest with acceleration -a0;

2) Retract the right foot: the difference between retracting the right foot and retracting the left foot is that the motors that rotate when retracting the right foot are the hip motor of the user's right leg and the motor of the knee of the right leg, and the detected angle is the angle of the hip joint of the user's right leg and the angle of the knee joint angle.

Preferably, the judging system does not meet any of the state switching conditions in C1-C6, indicating that the user is in a falling posture or other undefined posture; the pressure value, trunk inclination value or motor rotation angle value exceeds the defined range for 1s, and the control module judges In the "abnormal state", the control module will implement protection measures for the user until further instructions are received to release the "abnormal state"; the protection measures include: when the user's center of gravity is unstable, control the motor to stop rotating, or reverse rotation to make the The user changes back to the sitting position; when the user falls, the control voice module sends out an alarm to request others to rescue.

Preferably, the sensors include left leg hip motor angle sensor, right leg hip motor angle sensor, left leg knee motor angle sensor, right leg knee motor angle sensor, left foot sole pressure sensor, right foot sole pressure sensor and trunk inclination angle sensor; the control module is respectively connected with the left leg hip motor angle sensor, the right leg hip motor angle sensor, the left leg knee motor angle sensor, the right leg knee motor angle sensor, the left foot sole pressure sensor, the right foot sole The pressure sensor is connected with the trunk inclination angle sensor; the control module is also connected with the left leg hip motor, the right leg hip motor, the left leg knee motor and the right leg knee motor respectively.

Preferably, the trunk support of the rehabilitation device is bound to the user's upper body; the thigh support is bound to the user's thigh, and the calf support is bound to the user's calf; the foot support plate is arranged on the sole of the user's foot; the trunk support and the thigh support pass through the hip The internal motor is connected; the stator of the hip motor is fixed to the trunk support, the rotor of the hip motor is fixed to the thigh support; the thigh support and the calf support are respectively connected to the stator and rotor of the knee motor; the knee motor is connected to the thigh support and the calf support And control the relative angle movement of the two; the calf support is flexibly connected with the foot support plate.

Preferably, the value of a0 is 15°-20°/s ² ; the value of v0 is 15°-20°/s; the value of a1 is 60°-65°/s ² ; the v1 The value is 20°～25°/s.

Compared with the prior art, the present invention has the following advantages:

1. The trigger mode is double insurance. If the user does not select the "walking" mode through the button operation on the watch 12, his body movement will not trigger the standing action of the exoskeleton mechanical leg device; The radio frequency module communicates with the control module 11 to inform the latter that the user has selected the "walking" mode, and the latter then starts to judge whether the user's body posture meets the trigger condition in real time according to the data collected by the sensor group. Once the control module 11 detects that the user's body gesture meets the trigger condition, it will send a corresponding instruction to the motor unit, control the motor unit to rotate to complete the corresponding action, and trigger the "stepping foot". That is to say, the user must select the "walking" mode through the button of the watch 12, and at the same time, the body posture meets certain trigger conditions before the mechanical leg is triggered to "step". In this way, the risk of false triggering in a single triggering mode can be avoided, and the safety factor can be improved.

2. User safety. The control module 11 monitors and analyzes the data of the user's body posture (including trunk inclination, sole pressure, etc.) in real time through the sensor group, and judges whether the above data exceeds the normal range. When the user has unexpected situations such as unstable center of gravity or falling down, the control module 11 will detect that the above data exceeds the normal range, and will immediately take countermeasures to ensure the safety of the user. For example, when the center of gravity is unstable, the mechanical legs will be controlled to stop moving, and when the robot falls down, an alarm will be issued through the voice module 16 for help.

3, can support special users. Most of the existing rehabilitation devices for lower limbs only serve as an auxiliary load-bearing function, requiring users to have certain lower limb strength. However, the exoskeleton mechanical leg rehabilitation device of the present invention can support the user's entire body, and users with weak lower limbs can also use it. The "walking" exercise mode of the present invention, for users with severe paralysis of the lower limbs, can allow the user to stand up again with their own feet and take a simple walk, with a certain self-care ability, and secondly, it can help the user slow down the leg muscles. Atrophy; for users with mild paralysis of the lower limbs, this walking mode is conducive to the recovery of normal function of the lower limbs.

4. It can realize various functions. Existing lower limb rehabilitation devices only provide assistance for the user's active movements, while the exoskeleton mechanical leg rehabilitation device of the present invention can be triggered according to the user's center of gravity deviation and other postures and drive the user's body to complete standing, sitting, walking and other actions.

5. High security assurance. In the walking control method of the rehabilitation device of the present invention, all defined states are in a closed loop, and all other undefined states are abnormal states, and its stability and safety are greatly guaranteed.

Description of drawings

Figure 1 is a schematic diagram of the overall mechanical structure of a wearable bionic exoskeleton mechanical leg rehabilitation device.

Fig. 2 is a connection diagram of the control module and related components in Fig. 1 .

Fig. 3(a) is a schematic front view of the rehabilitation device in Fig. 1 .

Fig. 3(b) is a rightward schematic diagram of the rehabilitation device in Fig. 1 .

Figure 4(a) is a schematic diagram of the forward tilt angle of the trunk.

Figure 4(b) is a schematic diagram of the reclining angle of the trunk.

Figure 4(c) is a schematic diagram of the left and right inclination angle of the trunk.

Fig. 5 is a flow chart of the transition of the user wearing the exoskeleton mechanical leg rehabilitation device from the state of standing with both feet parallel to the state of one foot in front and the other behind, that is, the gait initialization process.

Fig. 6 is a flow chart of the gait maintenance process when the user wearing the exoskeleton mechanical leg rehabilitation device is in the state of one foot forward and one foot behind.

Shown in the figure: trunk support 1, thigh support 2, calf support 3, hip motor 4, hip rotation angle sensor 5, knee motor 6, knee rotation angle sensor 7, sole pressure sensor 8, trunk inclination sensor 9, strap Belt 10, control module 11, wrist watch 12, crutches 13, ground contact pressure sensor 14, foot support plate 15, voice module 16, left leg hip motor angle sensor 5_1, right leg hip motor angle sensor 5_2, left leg Knee motor angle sensor 7_1, right leg knee motor angle sensor 7_2, left foot sole pressure sensor 8_1, right foot sole pressure sensor 8_2, trunk tilt sensor 9, left crutch ground contact pressure sensor 14_1, right crutch ground contact pressure sensor 14_2 , left leg hip motor 4_1, right leg hip motor 4_2, left leg knee motor 6_1, right leg knee motor 6_2.

Specific implementation

In order to better understand the present invention, the present invention will be further described below in conjunction with the accompanying drawings, but the embodiments are not intended to limit the protection scope of the present invention.

Figure 1 is a schematic diagram of the overall mechanical structure of a wearable bionic exoskeleton mechanical leg rehabilitation device. As shown in Figure 1, the wearable bionic exoskeleton mechanical leg rehabilitation device mainly includes a trunk support 1, a thigh support 2, a calf support 3, a hip motor 4, a hip motor angle sensor 5, a knee motor 6, and a knee motor angle sensor. Sensor 7, sole pressure sensor 8, trunk inclination sensor 9, control module 11, wrist watch 12, crutches 13, ground contact pressure sensor 14, foot support plate 15, voice prompt module 16; Wherein, hip motor 4 comprises left leg Hip motor 4_1 and right leg hip motor 4_2; Hip motor angle sensor 5 comprises left leg hip motor angle sensor 5_1 and right leg hip motor angle sensor 5_2; Knee motor 6 comprises left leg knee motor 6_1 and right leg Leg knee motor 6_2; Knee motor angle sensor 7 comprises left leg knee motor angle sensor 7_1 and right leg knee motor angle sensor 7_2; Plantar pressure sensor 8 comprises left foot sole pressure sensor 8_1 and right foot sole pressure sensor 8_2; The ground contact pressure sensor 14 includes a left crutch ground contact pressure sensor 14_1 and a right crutch ground contact pressure sensor 14_2; there are two crutches 13, which are held by the user's left and right hands respectively. The control module 11 is arranged on the user's back.

The trunk support 1 is bound on the user's upper body; the thigh support 2 is bound on the user's thigh, and the calf support 3 is bound on the user's calf; the foot support plate 15 is set on the sole of the user's foot; the binding is bound by the strap 10 The trunk bracket 1 is connected with the thigh bracket 2 through the hip motor 4; the stator of the hip motor 4 is fixed with the trunk bracket 1, and the rotor of the hip motor 4 is fixed with the thigh bracket 2; when the hip motor 4 rotates, it is fixed on the stator The upper torso support 1 and the thigh support 2 fixed on the rotor are driven by the rotating motor and produce relative angular motion; the hip motor 4 controls the relative angular movement of the two; the thigh support 2 and the calf support 3 are respectively the stators of the knee motor 6 It is connected with the rotor; the knee motor 6 is connected with the thigh support 2 and the calf support 3 and controls the relative angular movement of the two; the calf support 3 is flexibly connected with the foot support plate 15 . The foot support plate 15 bears the weight of the user's body, and a plantar pressure sensor 8 is installed under the foot support plate 15; the signal produced by the foot support plate 15 represents a force applied to it, and its pressure value depends on the posture of the user.

Left leg hip motor angle sensor 5_1 and right leg hip motor angle sensor 5_2 are respectively arranged on left leg hip motor 4_1 and right leg hip motor 4_2; Left leg knee motor angle sensor 7_1 and right leg knee motor angle Sensor 7_2 is arranged on the left leg knee motor 6_1 and the right leg knee motor 6_2 respectively; The left foot sole pressure sensor 8_1 and the right foot sole pressure sensor 8_2 are respectively arranged on the left and right two foot support plates 15; the left crutch touches the ground pressure sensor 14_1 and the ground contact pressure sensor 14_2 of the right crutch are respectively arranged on the left and right crutches 13 lower ends. The trunk tilt sensor 9 is installed on the trunk support 1 .

As shown in Figure 2, control module 11 is respectively connected with left leg hip motor angle sensor 5_1, right leg hip motor angle sensor 5_2, left leg knee motor angle sensor 7_1, right leg knee motor angle sensor 7_2, left foot sole Pressure sensor 8_1, right foot sole pressure sensor 8_2, trunk tilt sensor 9, left crutch ground pressure sensor 14_1, right crutch ground pressure sensor 14_2, wrist watch 12 connection, left leg hip motor 4_1, right leg hip motor 4_2 , the left leg knee motor 6_1 is connected with the right leg knee motor 6_2. The wrist watch 12 is used to manually select the motion mode; the trunk inclination sensor 9 detects the inclination angle of the user's torso; the knee motor angle sensor 7 is used to detect the rotation angle of the knee motor rotation angle; the hip motor angle sensor 5 is used to detect the hip motor rotation angle The sole pressure sensor 8 detects the pressure on the sole of the foot; the crutches 13 are used to support the body and maintain balance when walking;

The control module 11 can be selected from the i.MX 6 series application processor of Freescale Corporation, and the communication with the hip motor 4 and the knee motor 6 is carried out by USB, the communication with various sensors is carried out by CAN, and the communication with the watch is carried out by wireless radio frequency.

The wrist watch 12 is mainly composed of a radio frequency module and buttons, the radio frequency module is used to communicate with the control module 11, and the buttons are used to select "standing", "sitting" and "walking" exercise modes.

During normal walking, the user will switch between two states, including: standing with two feet parallel and one foot forward and one foot behind, and the second state includes standing with the left foot in front and standing with the right foot in front. In the present invention, "gait initialization process" is the user's transition from the state of standing with both feet in parallel to the state of one foot in front of the other; "gait maintenance process" is the user's transition from the state of "left foot in front of right foot" "Right foot in front of left foot behind" state or transition from "right foot in front of left foot behind" state to "left foot in front of right foot behind" state. A complete walking process begins with the "gait initialization process", followed by the cycle of "gait maintenance process", and finally ends with the termination of the "gait maintenance process", that is, retracting the front foot and returning to the parallel standing state of both feet. Figure 5 and Figure 6 illustrate the specific flow of these two processes.

The following definitions are based on the following five assumptions:

1) Define the inclination angle of the torso, the front and left are positive, and the back and right are negative. The forward and _backward inclination angle of the torso is ∠, as shown in Figure 4(a) and Figure 4(b). Viewed from the left or right of the user, the angle of the torso's forward and backward inclination is based on the vertical ground of the torso, as shown in Figure 4(a) is the forward tilt angle of the trunk, and Figure 4(b) is the backward tilt angle of the trunk. The left and right inclination angle of the trunk is _about ∠. As shown in Figure 4(c), the left and right inclination angle of the torso is based on the vertical ground of the torso.

2) P represents the sole pressure sensor, and C represents the ground pressure sensor of the crutches. The total pressure of the soles of the feet is recorded as F _P , the individual pressure of the left foot is F _Pl , and the individual pressure of the right foot is F _Pr . The pressure of the crutches (the gravity of the crutches has been removed) is recorded as F _C , the pressure of the left crutches is F _Cl , and the pressure of the right crutches is F _Cr .

3) As shown in Figure 3(a) and Figure 3(b), the _knee joint angle ∠knee is the angle between the thigh support 2 and the calf support 3, the left knee joint angle is recorded as ∠left _knee joint, and the right knee joint angle The angle is recorded as ∠right _knee , combined with the normal walking state, in order to ensure the safety of the user, we limit the range of the knee joint angle during walking to 180°～90°. The _hip joint angle ∠hip is the angle between the thigh support 2 and the trunk support 1, the left hip joint angle is recorded as ∠left _hip , and the right hip joint angle is recorded as ∠right _hip .

4) In the present invention, v ₀ is the rotational speed of the hip motor; a ₀ is the acceleration at which the hip motor starts to rotate, and -a ₀ is the acceleration at which the hip motor ends; v ₁ is the rotational speed of the knee motor, and a ₁ is the acceleration at the knee The acceleration at which the motor starts to rotate, -a ₁ is the acceleration at which the knee motor ends. a ₀ , a ₁ , v ₀ , and v ₁ are all obtained by measuring the joint rotation speed of a person with healthy lower limbs during walking, and are related to the motor parameters used in the wearable bionic exoskeleton mechanical leg rehabilitation device. In the present invention, the value of a ₀ is 30°/s ² to 40°/s ² , the value of a ₁ is 100°/s ² to 120°/s ² , and the value of v ₀ is 30°/s ~40°/s, and the value of v ₁ is 70°/s~80°/s.

5) Define the user's weight as G.

The following defines two states S1 and S2 during the user's walking process:

S1: Feet parallel state

_∠knee =170～180°, _∠hip =170～180°, _∠knee - _∠hip≈0 °,

∠front and _back =-5°～+5°, ∠left _{and right} =-5°～+5°,

|F _pl -F _pr |/F _p <10%, F _c >0, |F _cl -F _cr |/F _c <5%;

S2: State of one foot forward and one foot behind

_∠knee =170～180°, _∠hip =170～180°, 0°< _∠knee - _∠hip <5°,

∠front and _back =-5°～+5°, ∠left _{and right} =-10°～+10°;

|F _pl -F _pr |/F _p <10%, F _C >0, |F _Cl -F _cr |/F _C <5%

State switching condition definition:

C1: Cross the left foot with the feet parallel

Initial state (switching condition)

_∠knee =170～180°, _∠hip =170～180°;

∠front and _back =+5°～+15°, ∠left _{and right} =-10°～+10°,

F _pl <<F _pr (i.e. satisfy (F _pr -F _pl )/F _pl >80%),

F _c >0 and F _cl <F _cr (i.e. satisfy |F _cl –F _cr |/F _c >40%)

The end state, that is, the state S2 of one foot forward and one foot behind

C2: Cross the right foot with the feet parallel

Initial state (switching condition)

_∠knee =170～180°, _∠hip =170～180°;

∠front and _back =+5°～+15°, ∠left _{and right} =-10°～+10°,

F _pr << F _pl (i.e. satisfy (F _pl -F _pr )/F _pr >80%),

F _c >0 and F _cr <F _cl (i.e. satisfy |F _cl -F _cr |/F _c >40%)

The end state, that is, the state S2 of one foot forward and one foot behind

C3: Stride the right foot in front of the left foot and behind the right foot

Initial state (switching condition)

_∠knee =170～180°, _∠hip =170～180°;

∠front and _back =+5°～+15°, ∠left _{and right} =-10°～+10°,

F _pr << F _pl (i.e. satisfy (F _pl -F _pr )/F _pr >80%),

F _c >0 and F _cr <F _cl (i.e. satisfy |F _cl -F _cr |/F _c >40%)

The end state, that is, the state S2 of one foot forward and one foot behind

C4: Keep the left foot in front of the left foot and behind the right foot

Initial state (switching condition)

_∠knee =170～180°, _∠hip =170～180°, 0°< _∠knee - _∠hip <5°; ∠front and _back =-5°～+5°, ∠left _{and right} =-10°～+10°;

F _pl <<F _pr (i.e. satisfy (F _pr -F _pl )/F _pl >80%),

F _c >0 and F _cl <F _cr (i.e. satisfy |F _cl –F _cr |/F _c >40%)

The end state, that is, the state of parallel feet S1

C5: Cross the left foot in the state of right foot in front of left foot

Initial state (switching condition)

_∠knee =170～180°, _∠hip =170～180°;

∠front and _back ＝+5°～+15°, ∠left _{and right} ＝-10°～+10°;

F _pl <<F _pr (i.e. satisfy (F _pr -F _pl )/F _pl >80%),

F _c >0 and F _cl <F _cr (i.e. satisfy |F _cl -F _cr |/F _c >40%)

The end state, that is, the state S2 of one foot forward and one foot behind

C6: Put the right foot in front of the right foot and behind the left foot

Initial state (switching condition)

_∠knee =170～180°, _∠hip =170～180°, 0°< _∠knee - _∠hip <5°;

∠front and _back =+5°～+10°, ∠left _{and right} =-10～0°;

F _pr << F _pl (i.e. satisfy (F _pl -F _pr )/F _pr >80%),

F _c >0 and F _cr <F _cl (i.e. satisfy |F _cl -F _cr |/F _c >40%)

The end state, that is, the state of parallel feet S1

According to the above definition combined with walking control flowcharts 5 and 6, a walking control method of a wearable bionic exoskeleton mechanical leg rehabilitation device includes the following steps:

1) The first step is to take the left or right foot (initialization); Figure 5 illustrates the flow chart of the user's state transition from standing with both feet parallel to one foot forward and one foot behind. After a user selects the "walking" mode through the wrist watch 12, the control system 11 starts to detect whether the user leans forward and whether the center of gravity moves through the pressure sensor 8 at the torso inclination sensor 9 and the sole support and the ground contact pressure sensor 14 of the crutches; If within the specified time T, the user leans forward and moves the center of gravity to the right, the pressure on the sole of the right foot will increase, and the pressure on the left foot will decrease. The inclination sensor 9 and the pressure sensor 8 collect Signals and data are transmitted to the control module 11. The control module 11 judges that the current state of the system satisfies the switching condition C1 or C2 according to the data transmitted from the pressure sensor 8 of the inclination sensor 9 and the bottom of the foot, and then successfully initializes the gait; the control module 11 controls the left leg hip motor 4_1, the right Leg hip motor 4_2, left leg knee motor 6_1, and right leg knee motor 6_2 rotate according to the set speed and angle, driving thigh support 2 and calf support 3 to step out of the left or right foot, and the system will record the current The status of the state is "step left (right) foot", and then the maintenance of gait is carried out; if within the specified time T, the change of the size of the inclination sensor and the pressure sensor of both feet is not detected at the same time, that is, the control module 11 according to the inclination sensor 9 Based on the data sent by the pressure sensor 8, it is judged that the current state of the system does not meet the switching conditions, then the process of initializing the gait stops, and the user continues to maintain the state of standing with both feet parallel;

The specific way of stepping the left or right foot is the same, except that when the left foot is stepped, the motors that rotate are the hip motor of the user's left leg and the motor of the knee of the left leg, and the detected angle is the angle of the hip joint of the user's left leg and the angle of the knee joint. Angle; when stepping out the right foot, the rotating motor is the user's right leg hip motor and right leg knee motor, and the detected angle is the user's right leg hip joint angle and knee joint angle. Let's take stepping out with the right foot as an example, and the specific implementation method is as follows:

The control module 11 controls the right leg hip motor 4_2 to accelerate uniformly from a static state to a speed v0 with an acceleration a0, and then rotate at a constant speed v0 to drive the user's torso and thigh to generate relative angular motion, so that the angle between the trunk support 1 and the thigh support 2 is ∠ The _{right hip} decreases; at the same time, the right leg knee motor 6_2 begins to accelerate uniformly from rest to speed v ₁ with acceleration a ₁ (setting v ₁ =2v ₀ during walking), and then rotates with constant speed v ₁ to drive the thigh and calf to produce The relative angle movement makes the angle ∠right _knee between the thigh support 2 and the calf support 3 decrease until the control module 11 detects ∠right _knee =145～140°, and controls the right leg knee motor 6_2 to accelerate- _{a 1} evenly Slow down to a standstill.

The right leg hip motor 4_2 continues to rotate until the control module 11 detects ∠right _hip =165～160°, controls the right leg knee motor 6_2 to rotate in reverse, accelerates uniformly to the speed v ₁ with the acceleration a ₁ , and then at a constant speed The rotation of v ₁ drives the thigh and the calf to produce relative angular movement, so that the angle ∠right _knee between the thigh support 2 and the calf support 3 increases.

The control module 11 continues to detect the ∠right _hip until it detects ∠right _hip =160～157°, controls the motor 4_2 of the hip of the right leg to decelerate to a standstill with acceleration -a ₀ ; the motor of the knee of the right leg continues to rotate at a constant speed v ₁ , until the control module 11 detects ∠right _knee =170～180°, controls the right leg knee motor 6_2 to decelerate to a standstill with acceleration -a ₁ , the stepping action ends, and the user enters the front of the right foot and behind the left foot.

2) Continuous walking control

Figure 6 illustrates the gait maintenance process when the user is in the state of one foot forward and one foot behind. After the user successfully takes the left or right foot, the user is in the posture of the left or right foot. Before taking a new step, that is, before taking the right or left foot, the control module 11 continues to pass the inclination sensor 9 and the pressure sensor 8. And the touch sensor 14 detects whether the user's torso leans forward and whether the center of gravity shifts; if within the specified time T, the user's upper body tilts and the center of gravity moves sideways to the left (or right) foot, the inclination sensor 9 and the pressure sensor 8 collect signal and data transmission to the control module 11; the control module 11 will judge that the current state of the system meets the switching condition C3 (or C5) according to the data transmitted by the inclination sensor 9 and the pressure sensor 8, and at this moment, the control module will control the hip motor And the knee motor rotates according to the set speed and angle, driving the thigh support and calf support to step forward to the right (or left) foot;

There is only one difference between the specific way of stepping left or right foot and the specific way of stepping left or right foot in step 1). Take stepping out the right foot as an example, when the two motors on the right side of the user step out the right foot according to the steps in step 1), the left leg hip motor 4_1 accelerates from rest to speed v0 with acceleration a0 and keeps rotating at a constant speed, Until it detects ∠left _{hip =} 175～178°, control the left leg hip motor 4_1 to decelerate uniformly with acceleration-a0 to rest. The rest of the way of stepping the right foot is the same as that described in step 1).

If the system does not detect the upper body leaning forward and the center of gravity transfer within the specified time T, that is, the control module judges that the current state of the system meets the state switching condition C4 (or C6) according to the data from the inclination sensor and the pressure sensor, then the gait is maintained Process stops, and control module 11 will control left leg hip motor 4_1, right leg hip motor 4_2, left leg knee motor 6_1 and right leg knee motor 6_2 to rotate according to the set speed and angle, driving thigh support 2 and The calf support 3 retracts the left (or right) foot backward, so that the user returns to the standing posture with both feet parallel. (feet closed)

The specific process of the above-mentioned foot retraction action (taking the left foot as an example) is as follows:

The left leg knee motor 6_1 accelerates uniformly from rest to v1 with the acceleration a1, and then rotates at a constant speed v1, so that the ∠left _knee decreases until the control module 11 detects that ∠left _knee =145～140°, the left leg knee motor Decelerate to rest with acceleration-a1 and immediately accelerate to v1 with acceleration a1 and then rotate at constant speed v1 until the control module 11 detects ∠left _knee =170～180°, left leg knee motor 6_1 decelerates to rest with acceleration-a1 . While the left leg knee motor rotates, the left leg hip motor 4_1 accelerates to -v0 with acceleration -a0 and then keeps the speed constant until the control module 11 detects that ∠left _hip =170～180°, the left leg hip Motor 4_1 decelerates to standstill with acceleration a0. During this period, the two motors rotate simultaneously, and v1=2v0 is set.

The "specified time T" in steps 1) and 2) is determined by the proficiency of the user. The more proficient the user is in the use of this set of equipment, the smaller the "specified time" can be. The general value range of T is 2s–5s.

3) exception handling

If in the process of initializing gait and gait maintenance, the control module 11 judges that the system does not meet any state switching condition in C1-C6 (the user is in a falling posture or other undefined posture) through the data returned by the sensor, the system will immediately Stopping the gait initialization process or gait maintenance process, the alarm device of the system will also sound an alarm. For example, if parameters such as pressure value, torso inclination value, or motor rotation angle value exceed the above-mentioned normal range for 1 second, it is judged as an "abnormal state", and the control module 11 will implement protective measures for the user until further instructions are received to release the "abnormal state". ". These protective measures include but are not limited to: when the user's center of gravity is unstable, control the motor to stop rotating, or reverse rotation to make the user return to a sitting position; when the user falls, control the voice module 16 to send an alarm to request others to rescue.

Standing control method of the present invention has following advantage:

1. The trigger mode is double insurance. If the user does not select the "walking" mode through the button operation on the watch 12, his body movement will not trigger the standing action of the exoskeleton mechanical leg device; The radio frequency module communicates with the control module 11 to inform the latter that the user has selected the "walking" mode, and the latter then starts to judge whether the user's body posture meets the trigger condition in real time according to the data collected by the sensor group. Once the control module 11 detects that the user's body gesture meets the trigger condition, it will send a corresponding instruction to the motor unit, control the motor unit to rotate to complete the corresponding action, and trigger the "stepping foot". That is to say, the user must select the "walking" mode through the button of the watch 12, and at the same time, the body posture meets certain trigger conditions before the mechanical leg is triggered to "step". In this way, the risk of false triggering in a single triggering mode can be avoided, and the safety factor can be improved.

2. User safety. The control module 11 monitors and analyzes the data of the user's body posture (including trunk inclination, sole pressure, etc.) in real time through the sensor group, and judges whether the above data exceeds the normal range. When the user has unexpected situations such as unstable center of gravity or falling down, the control module 11 will detect that the above data exceeds the normal range, and will immediately take countermeasures to ensure the safety of the user. For example, when the center of gravity is unstable, the mechanical legs will be controlled to stop moving, and when the robot falls down, an alarm will be issued through the voice module 16 for help.

3, can support special users. Most of the existing rehabilitation devices for lower limbs only serve as an auxiliary load-bearing function, requiring users to have certain lower limb strength. However, the exoskeleton mechanical leg rehabilitation device of the present invention can support the user's entire body, and users with weak lower limbs can also use it.

4. It can realize various functions. Existing lower limb rehabilitation devices only provide assistance for the user's active movements, while the exoskeleton mechanical leg rehabilitation device of the present invention can be triggered according to the user's center of gravity deviation and other postures and drive the user's body to complete standing, sitting, walking and other actions.

5. High security assurance. In the walking control method of the rehabilitation device of the present invention, all defined states are in a closed loop, and all other undefined states are abnormal states, and its stability and safety are greatly guaranteed.

The above embodiments are only used to illustrate the present invention, but not to limit the present invention. Those of ordinary skill in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all Equivalent technical solutions also belong to the category of the present invention, and the scope of patent protection of the present invention should be defined by the claims.

Claims (8)

1. a kind of ambulation control method of wearable bionic exoskeleton pedipulator convalescence device, it is characterised in that including walking as follows Suddenly：

1) first step steps left or right foot：

The data that control module is transmitted according to the pressure sensor for receiving obliquity sensor and sole judge that system current state is full Sufficient switching condition C1 or C2, control module control motor rotation, thigh support frame and small leg support are driven to step left foot or right crus of diaphragm；If At the appointed time be not simultaneously detected the variation of obliquity sensor and double-legged pressure sensor size in T, control module according to The data that obliquity sensor and pressure sensor transmit judge that system current state is unsatisfactory for switching condition, then initialize gait Process stop, user is continuously maintained at the parallel standing state of both feet；

The C1：∠_Knee=170~180 °, ∠_Hip=170~180 °, ∠_{It is front and back}=+5 °~+15 °, ∠_{Left and right}=-10 °~+10 °, (F_pr-F_pl)/F_pl>80%, F_C>0 and | F_cl-F_{c r}|/F_c>40%；C1 is indicated under double-legged parastate across left foot；

The C2：∠_Knee=170~180 °, ∠_Hip=170~180 °, ∠_{It is front and back}=+5 °~+15 °, ∠_{Left and right}=-10 °~+10 °, (F_pl-F_pr)/F_pr>80%, F_c>0 and | F_cl–F_cr|/F_C>40%；C2 is indicated under double-legged parastate across right crus of diaphragm；

The specified time T is determined that the value of T is 2-5s by the proficiency of user；

2) continue travelling control：

If the data that control module is transmitted according to obliquity sensor and pressure sensor, judge that system current state meets switching Condition C 3 or C5, control module will control hip motor and the rotation of knee motor, thigh support frame and small leg support driven to step forward Go out right crus of diaphragm or left foot；The C3：∠_Knee=170~180 °, ∠_Hip=170~180 °；∠_{It is front and back}=+5 °~+15 °, ∠_{Left and right}=-10 ° ~+10 °；(F_pl-F_pr)/F_pr80%)；F_C>0 and | F_cl-F_cr|/F_c>40%；C3 indicates that state is across the right side after right crus of diaphragm before left foot Foot；The C5：∠_Knee=170~180 °, ∠_Hip=170~180 °；∠_{It is front and back}=+5 °~+15 °, ∠_{Left and right}=-10 °~+10 °；(F_pr- F_pl)/F_pl>80%；F_C>0 and | F_cl-F_cr|/F_C>40%；C5 indicates that state is across left foot after left foot before right crus of diaphragm；

If the data that control module is transmitted according to obliquity sensor and pressure sensor, judge that system current state meets state Switching condition C4 or C6, then the stopping of gait maintenance process, control module will control left leg hip motor, right leg hip motor, a left side Leg knee motor and the rotation of right leg knee motor, drive thigh support frame and small leg support to withdraw left or right foot backward, user are made to return To the parallel standing appearance of both feet；The C4：∠_Knee=170~180 °, ∠_Hip=170~180 °, 0 °<∠_Knee-∠_Hip<5°；∠_{It is front and back}=-5 ° ~+5 °, ∠_{Left and right}=-10 °~+10 °；(F_pr-F_pl)/F_pl>80%；F_c>0 and | F_cl-F_cr|/F_C>40%；C4 indicates to be in left foot State receives left foot after preceding right crus of diaphragm；The C6：∠_Knee=170~180 °, ∠_Hip=170~180 °, 0 °<∠_Knee-∠_Hip<5°；∠_{It is front and back}=+ 5 °~+10 °, ∠_{Left and right}=-10~0 °；(F_pl-F_pr)/F_pr>80%；F_c>0 and | F_cl–F_cr|/F_c>40%；C6 indicates to be in right crus of diaphragm State receives right crus of diaphragm after preceding left foot；

If the data that control module is transmitted according to obliquity sensor and pressure sensor, judge that system is unsatisfactory for appointing in C1-C6 One state switching condition, control module stops gait initialization process or gait maintains process, sends out alarm；

The ∠_HipThe angle between trunk holder and thigh support frame；The ∠_KneeThe angle between thigh support frame and small leg support； The ∠_{It is front and back}For by trunk perpendicular to the ground on the basis of, the angle that trunk tilts forward and back leans forward as just, hypsokinesis is negative；∠_{Left and right}For with Trunk perpendicular to the ground on the basis of, the angle that trunk tilts, for just, Right deviation is negative for "Left"-deviationist；G is user's weight；F_CFor removal Crutch its own gravity, gross pressure suffered by the crutch ground engaging end of left and right；F_ClFor the cane pressure of turning left after removal crutch its own gravity, Fcr For the cane pressure of turning right after removal crutch its own gravity；F_pFor left and right sole gross pressure；F_plFor the independent pressure of left foot；F_prFor right crus of diaphragm Independent pressure.

2. the ambulation control method of wearable bionic exoskeleton pedipulator convalescence device according to claim 1, feature It is, the control module is to use wrist in user according to the data that the pressure sensor for receiving obliquity sensor and sole transmits It is carried out after table selection " standing " motor pattern.

3. the ambulation control method of wearable bionic exoskeleton pedipulator convalescence device according to claim 1, feature It is, the control module control motor rotation drives thigh support frame and small leg support to step left or right foot in the following way It realizes：

1) right crus of diaphragm is stepped：Control module control right leg hip motor with acceleration a0 from it is static it is even accelerate to speed v0, then with perseverance The v0 rotations of constant speed degree, drive user's trunk to generate relative angular movement with thigh, make ∠_{Right hip}Reduce；Right leg knee motor is opened simultaneously Begin with acceleration a₁Even speed v is accelerated to from static₁, with constant speed v₁Rotation drives thigh to generate relative angle fortune with shank It is dynamic, make ∠_{Right knee}Reduce, until control module detects ∠_{Right knee=}145~140 °, right leg knee motor is controlled with acceleration-a₁It is even It is decelerated to static；

Right leg hip motor persistently rotates, until control module detects ∠_{Right hip}=165~160 °, it is anti-to control right leg knee motor To rotation, with acceleration a₁It is even to accelerate to speed v₁, with constant speed v₁Rotation drives thigh to generate relative angle fortune with shank It is dynamic, make ∠_{Right knee}Increase；

Control module persistently detects ∠_{Right hip}, until detecting ∠_{Right hip}=160~157 °, right leg hip motor is controlled with acceleration-a₀ It is even be decelerated to it is static；Knee motor continues with constant speed v₁Rotation, until control module detects ∠_{Right knee}=170~180 °, Right leg knee motor is controlled with acceleration-a₁Even to be decelerated to static, action of taking a step terminates, and user enters before right crus of diaphragm after left foot；

2) left foot is stepped：The motor for stepping left foot and stepping right crus of diaphragm and being rotated when the difference is that stepping left leg is the left leg hip of user The angle of motor and left leg knee motor, detection is the left leg Hip Angle of user and knee joint angle.

4. the ambulation control method of wearable bionic exoskeleton pedipulator convalescence device according to claim 1, feature It is, the drive thigh support frame and small leg support withdraw left or right foot and realize in the following way backward：

1) left foot is received：Left leg knee motor with acceleration a1 from it is static it is even accelerate to v1, then constant speed v1 rotate, make ∠_{Left knee} Reduce, until control module detects ∠_{Left knee}At=145~140 °, left leg knee motor with acceleration-a1 be decelerated to it is static simultaneously It is then accelerated to after v1 with acceleration a1 and is rotated with constant speed v1, until control module detects ∠_{Left knee}It is=170~180 °, left Leg knee motor is decelerated to static with acceleration-a1；While left leg knee motor rotates, left leg hip motor is with acceleration A0 keeps speed constant after accelerating to v0, until control module detects ∠_{Left hip}At=170~180 °, left leg hip motor is to add Speed-a0 is decelerated to static；

2) right crus of diaphragm is received：Receive right crus of diaphragm with receive left foot the difference is that when receiving right crus of diaphragm the motor that rotates be the right leg hip motor of user and The angle of right leg knee motor, detection is the right leg Hip Angle of user and knee joint angle.

5. the ambulation control method of wearable bionic exoskeleton pedipulator convalescence device according to claim 1, feature Be, the judgement system be unsatisfactory for any of C1-C6 state switching conditions indicate user be in tumble posture or its His undefined posture；Pressure value, trunk inclination value or motor corner value parameter reach 1s beyond confining spectrum, and control module differentiates For " abnormality ", control module will execute safeguard measure to user, until receiving further instruction to release " abnormal shape State "；The safeguard measure includes：When user's crank, motor stalls are controlled, or rotating backward makes user become again again Sitting posture；When user falls down, control voice module sends out alarm, and with request, other people rescue.

6. the ambulation control method of wearable bionic exoskeleton pedipulator convalescence device according to claim 1, feature It is, the sensor includes left leg hip motor angle sensor, right leg hip motor angle sensor, left leg knee motor Angular transducer, right leg knee motor angle sensor, left foot foot bottom pressure sensor, right crus of diaphragm foot bottom pressure sensor and trunk Obliquity sensor；Control module respectively with left leg hip motor angle sensor, right leg hip motor angle sensor, left leg knee Portion's motor angle sensor, right leg knee motor angle sensor, left foot foot bottom pressure sensor, right crus of diaphragm foot bottom pressure sensor It is connected with trunk obliquity sensor；The control module is also electric with left leg hip motor, right leg hip motor, left leg knee respectively Machine is connected with right leg knee motor.

7. the ambulation control method of wearable bionic exoskeleton pedipulator convalescence device according to claim 1, feature It is, the trunk holder of the convalescence device is bundled in user's upper body；Thigh support frame is bundled on user's thigh, and small leg support is tied up It is scheduled on user's shank；Foot supporting board is arranged in user's sole；Trunk holder is connect with thigh support frame by hip motor；Hip The stator of portion's motor is fixed with trunk holder, and rotor and the thigh support frame of hip motor are fixed；Thigh support frame and small leg support point It is not connect with the stator of knee motor and rotor；Knee motor is connected to thigh support frame and small leg support and controls the two relative angle Degree movement；Small leg support is flexibly connected with foot supporting board.

8. the ambulation control method of wearable bionic exoskeleton pedipulator convalescence device according to claim 4, feature It is, the a0 values are 15 °~20 °/s²；The v0 values are 15 °~20 °/s；The a1 values are 60 °~65 °/s²；Institute It is 20 °~25 °/s to state v1 values.